/// <summary>
/// Creates a transition between two <see cref="BehaviourEngine"/>, one is the submachine the other the supermachine
/// </summary>
/// <param name="name">The name of the transition</param>
/// <param name="stateFrom">The exit state of the transition</param>
/// <param name="perception">The perception that activates the transition</param>
/// <param name="stateTo">the entry state of the transition</param>
/// <param name="superMachine">The supermachine</param>
/// <param name="subMachine">The submachine</param>
public Transition(string name, State stateFrom, Perception perception, State stateTo, BehaviourEngine superMachine, BehaviourEngine subMachine)
{
this.Name = name;
this.StateFrom = stateFrom;
this.Perception = perception;
this.StateTo = stateTo;
this.type = TRANSITION_TYPE.SUPER_TRANSITION;
if (stateFrom.BehaviourEngine == superMachine) // Exits from the super-machine
{
this.BehaviourEngine = superMachine;
Perception.SetBehaviourMachine(superMachine);
superMachine.Configure(StateFrom)
.OnExit(this.Name, () => Perception.Reset())
.InternalTransition(Perception, this.Name, () => ExitTransition(StateFrom, StateTo, subMachine.GetState("Entry_Machine"), superMachine, subMachine));
}
else // Exits from the sub-machine
{
this.BehaviourEngine = subMachine;
Perception.SetBehaviourMachine(subMachine);
subMachine.Configure(StateFrom)
.OnExit(this.Name, () => Perception.Reset())
.InternalTransition(Perception, this.Name, () => ExitTransition(StateFrom, StateTo, subMachine.GetState("Entry_Machine"), superMachine, subMachine));
}
}
/// <summary>
/// Creates a transition between one <see cref="BehaviourTreeEngine"/>, the submachine; and another <see cref="BehaviourTreeEngine"/>, the supermachine.
/// </summary>
/// <param name="name">The name of the transition</param>
/// <param name="nodeFrom">The exit node of the transition</param>
/// <param name="stateTo">The node where the Behaviour tree is coming back</param>
/// <param name="superMachine">The supermachine</param>
/// <param name="subMachine">The submachine</param>
public Transition(string name, TreeNode nodeFrom, LeafNode stateTo, BehaviourTreeEngine superMachine, BehaviourTreeEngine subMachine)
{
this.Name = name;
this.StateFrom = nodeFrom.StateNode;
this.StateTo = stateTo.StateNode;
this.Perception = new OrPerception(new BehaviourTreeStatusPerception(subMachine, ReturnValues.Succeed, subMachine),
new BehaviourTreeStatusPerception(subMachine, ReturnValues.Failed, subMachine),
subMachine);
this.type = TRANSITION_TYPE.SUPER_TRANSITION;
if (StateFrom.BehaviourEngine == superMachine) // Exits from the super-machine
{
this.BehaviourEngine = superMachine;
Perception.SetBehaviourMachine(superMachine);
superMachine.Configure(StateFrom)
.OnExit(this.Name, () => Perception.Reset())
.InternalTransition(Perception, this.Name, () => ExitTransition(StateFrom, stateTo, subMachine.GetRootNode().ReturnValue, subMachine.GetState("Entry_Machine"), superMachine, subMachine));
}
else // Exits from the sub-machine
{
this.BehaviourEngine = subMachine;
Perception.SetBehaviourMachine(subMachine);
subMachine.Configure(StateFrom)
.OnExit(this.Name, () => Perception.Reset())
.InternalTransition(Perception, this.Name, () => ExitTransition(StateFrom, stateTo, subMachine.GetRootNode().ReturnValue, subMachine.GetState("Entry_Machine"), superMachine, subMachine));
}
}
/// <summary>
/// Creates a transition between states from a <see cref="BehaviourStateMachine"/>
/// </summary>
/// <param name="name">The name of the transition</param>
/// <param name="stateFrom">The exit state of the transition</param>
/// <param name="perception">The perception that activates the transition</param>
/// <param name="stateTo">The entry state of the transition</param>
/// <param name="behaviourEngine">The machine the transitions belongs to</param>
public Transition(string name, State stateFrom, Perception perception, State stateTo, BehaviourEngine behaviourEngine)
{
this.Name = name;
this.StateFrom = stateFrom;
this.Perception = perception;
this.StateTo = stateTo;
this.BehaviourEngine = behaviourEngine;
this.type = TRANSITION_TYPE.NORMAL;
BehaviourEngine.Configure(StateFrom)
.OnExit(this.Name, () => { Perception.Reset(); });
}
public void SetTransitionType(TRANSITION_TYPE transitionType)
{
m_transitionType = transitionType;
}
